#ifndef __CONTROL_H
#define __CONTROL_H

#include "math.h"
#include <stdio.h>
#include <stdlib.h>





void motor_init(void);



void motor_set_pwm(float pid_out,float pid_out1);

void motor_speed_pid(void);
void motor_location_pid(int16_t xcm);

void motor_location_and_speed(int16_t xcm);

void motor_angle_pid(float hope_angle);

void motor_forward(void);

void motor_back(void);

void motor_close(void);




#endif 

